CN103879450A - Planetary steering mechanism and transmission device based on same - Google Patents
Planetary steering mechanism and transmission device based on same Download PDFInfo
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- CN103879450A CN103879450A CN201410109215.7A CN201410109215A CN103879450A CN 103879450 A CN103879450 A CN 103879450A CN 201410109215 A CN201410109215 A CN 201410109215A CN 103879450 A CN103879450 A CN 103879450A
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Abstract
The invention provides a planetary steering mechanism and a transmission device based on the steering mechanism. The planetary steering mechanism is used in the transmission device of a high-maneuverability track-laying vehicle. The planetary steering mechanism comprises a speed change main shaft, a left parking brake, a right parking brake, a left steering speed change mechanism and a right steering speed change mechanism, wherein the left steering speed change mechanism comprises a first planetary row, a second planetary row, a first brake, a second brake, a third brake and a first clutch, the right steering speed change mechanism comprises a third planetary row, a fourth planetary row, a fourth brake, a fifth brake, a sixth brake and a second clutch, and the input end of the left steering speed change mechanism and the input end of the right steering speed change mechanism are connected through the speed change main shaft. The invention further provides the transmission device based on the steering mechanism, the large stipulated steering radius, the middle stipulated steering radius and the small stipulated steering radius can be achieved on each gear of a direct driving speed change mechanism, a steering motor or a hydraulic pump-motor unit for steering is not specially arranged, the structure is simple, the cost is low, batch production and assembling are facilitated, the mechanism and the power device can be wholly hoisted, and the maintainability is high.
Description
Technical field
The present invention relates to high maneuverability tracked vehicle transmission device technical field, specifically refer to that a kind of each gear for straight speed-changing mechanism all can realize the steering planetary of large, medium and small three regulation Turning radiuss and the driving device based on this steering hardware.
Background technology
On modern high maneuverability continuously tracked vehicle, extensively adopt hydraulic machine automatic speed changing-hydraulic stepless to turn to double-current driving device, its each straight gear all has from minimum hydraulic pressure Turning radius to infinitely-great unlimited multiple Turning radiuss.In this both sides differential double fluid driving device, the power of driving engine is first divided into straight and turns to two-way power stream after being input to driving device inside, after turbine transformer and Hydraulic Pump-motor unit are delivered to main shaft and zero axle, be divided into respectively left and right two-way power stream, after left and right bus duct confluxes respectively, output drives left and right driving wheel again.There is typical diaxon two and arrange structure, there is main shaft, zero axle, left bus duct and right bus duct, two rows are arranged in the left and right mouth of driving device, main shaft connects two rows' gear ring, zero axle connects two rows' sun wheels, after two rows' pinion carriers are connected with left and right parking brake as the left and right mouth of driving device.Although U.S. Pat 4890508 is not the earliest but discloses the typical structure of this type of driving device yet.
Also there is a small amount of high maneuverability continuously tracked vehicle to equip the LSG3000 double fluid driving device of ZF company, it turns to double-current driving device for hydraulic machine automatic speed changing-machinery has level, all can realize large, medium and small three regulation Turning radiuss for each straight gear, be called as the highest development level of mechanical-type steering engine structure.In this both sides differential double fluid driving device, turn to speed-changing mechanism configuration and be arranged on zero axle, it has multiple variable speed planetary rows and multiple shift clutch and gearshift drg.Although European patent EP 0832025B1 is not the earliest but discloses the typical structure of this driving device yet, its Fig. 1 is above-mentioned mechanical-type steering engine structure, it comprises four shift clutch, a gearshift drg and two free-wheel clutchs, also discloses the recent development scheme that turns to speed-changing mechanism development based on this in this patent.
The electric actuator for high maneuverability continuously tracked vehicle that recent two decades occurs successively or hybrid power electric actuator are also many arranges structure based on above-mentioned typical diaxon two.U.S. Pat 4998591 discloses the multiple electric actuator of arranging structure based on diaxon two, and drive motor is connected with main shaft by gear transmission, and steer motor is connected with zero axle by gear transmission.U.S. Pat 6491599B1 discloses a kind of hybrid power electric actuator, driving engine, the first electrical motor, the second electrical motor are connected with a shift clutch by three planet rows, then be connected with main shaft along mechanism by falling, steer motor is connected with zero axle with transmission gear by deceleration row.U.S. Pat 7757797B2 discloses another kind and has arranged the hybrid power electric actuator of structure based on diaxon two, and driving engine is connected with hydraulic machine straight speed-changing mechanism after connecting an electrical motor by master clutch, and hydraulic steering mechanism is connected with zero axle.U.S. Pat 7757797B2 discloses the another kind of hybrid power electric actuator of structure of also arranging based on diaxon two, driving engine is connected with power flow concentration row's gear ring by master clutch, the first electrical motor is connected with power flow concentration row's sun wheel, after power flow concentration row's pinion carrier is connected with the second electrical motor, is connected with straight speed-changing mechanism input end.
The above-mentioned modern both sides differentials double fluid driving device of arranging structure based on diaxon two has preferably turning efficiency, but also inevitably pay the cost of volume, weight and cost, steer motor or pump – motor unit have also improved the price of driving device in having improved driving device performance, are unfavorable for buying in enormous quantities and equipment.Notice, high maneuverability continuously tracked vehicle is the consumable store of rapid wear, and its life-span in wartime only has dozens of hour, and complicated and expensive driving device is also unfavorable for that this purpose-built vehicle is at production in enormous quantities place in operation rapidly in wartime.
Summary of the invention
The object of the invention is in order to overcome above-mentioned shortcoming of the prior art, provide a kind of each gear for straight speed-changing mechanism all can realize the steering planetary of large, medium and small three regulation Turning radiuss and the driving device based on this steering hardware, it does not have ad hoc steer motor or Ye Ya Beng – motor unit for turning to, structure is simpler, cost is lower, be beneficial to produce in enormous quantities and equipment, and can with engine installation integral hoisting, maintainability is high.
The invention provides a kind of steering planetary, it,, for the driving device of high maneuverability continuously tracked vehicle, comprising: main shaft; Stop port drg and right parking brake; It is characterized in that: described steering planetary also comprises: left steering speed-changing mechanism, comprising: the first planet row, it is three element planet row, comprises the first sun wheel, the first gear ring and the first pinion carrier; The second planet row, it is the compound planet row of four elements, comprises second largest sun wheel, the second small sun gear, the second gear ring and the second pinion carrier; The first drg, it is for braking described the first sun wheel; Second brake, it is for braking described the second gear ring; The 3rd drg, it is for braking described the second small sun gear; First clutch, it is for connecting described the first gear ring and described the first sun wheel; Described the first gear ring is as the input end of described left steering speed-changing mechanism, described the first sun wheel is connected with described the second pinion carrier, described the first pinion carrier is connected with described second largest sun wheel, after described second largest sun wheel is connected with stop port drg as the mouth of described left steering speed-changing mechanism as the left mouth of described steering planetary; Right steering speed-changing mechanism, comprising: third planet row, and it is three element planet row, comprises the 3rd sun wheel, the 3rd gear ring and third planet frame; Fourth planet row, it is the compound planet row of four elements, comprises the fourth-largest sun wheel, the 4th small sun gear, the 4th gear ring and fourth planet frame; The 4th drg, it is for braking described the 3rd sun wheel; The 5th drg, it is for braking described the 4th gear ring; The 6th drg, it is for braking described the 4th small sun gear; Second clutch, it is for connecting described the 3rd gear ring and described the 3rd sun wheel; Described the 3rd gear ring is as the input end of described right steering speed-changing mechanism, described the 3rd sun wheel is connected with described fourth planet frame, described third planet frame is connected with described the fourth-largest sun wheel, after described the fourth-largest sun wheel is connected with right parking brake as the mouth of described right steering speed-changing mechanism as the right mouth of described steering planetary; And the input end of described left steering speed-changing mechanism is connected with the input end of described right steering speed-changing mechanism by described main shaft.
According to steering planetary of the present invention, when described second brake engages, described first clutch, described the first drg and described the 3rd drg separate, and described left steering speed-changing mechanism is realized left 1 gear; When described the first drg engages, described first clutch, described second brake and described the 3rd drg separate, and described left steering speed-changing mechanism is realized left 2 gears; When described the 3rd drg engages, described first clutch, described the first drg separate with described second brake, and described left steering speed-changing mechanism is realized left 3 gears; When described first clutch engages, described the first drg, described second brake and described the 3rd drg separate, and described left steering speed-changing mechanism is realized left 4 gears; When described first clutch, described the first drg, described second brake and described the 3rd drg separate, described left steering speed-changing mechanism is realized neutral; When described the 5th drg engages, described second clutch, described the 4th drg and described the 6th drg separate, and described right steering speed-changing mechanism is realized right 1 gear; When described the 4th drg engages, described second clutch, described the 5th drg and described the 6th drg separate, and described right steering speed-changing mechanism is realized right 2 gears; When described the 6th drg engages, described second clutch, described the 4th drg and described the 5th drg separate, and described right steering speed-changing mechanism is realized right 3 gears; When described second clutch engages, described the 4th drg, described the 5th drg and described the 6th drg separate, and described right steering speed-changing mechanism is realized right 4 gears; And separate with described the 6th drg when described second clutch, described the 4th drg, described the 5th drg, described right steering speed-changing mechanism is realized neutral.
According to steering planetary of the present invention, the speed ratio of described left 1 gear or described right 1 gear is according to the 3rd regulation relative steering setting; The speed ratio of described left 2 gears or described right 2 gears arranges according to the second regulation relative steering; The speed ratio of described left 3 gears or described right 3 gears arranges according to the first regulation relative steering; And the pass of gear speed ratio i and regulation relative steering ρ is:
According to steering planetary of the present invention, hang described left 4 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 4 gear, vehicle is realized straight; Hang described left 3 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 4 gear, vehicle is realized the left steering of described the first regulation relative steering; Hang described left 2 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 4 gear, vehicle is realized the left steering of described the second regulation relative steering; Hang described left 1 gear when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 4 gear, vehicle is realized the left steering of described the 3rd regulation relative steering; Hang described left 4 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 3 gear, vehicle is realized the right steering of described the first regulation relative steering; Hang described left 4 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 2 gear, vehicle is realized the right steering of described the second regulation relative steering; And hang described left 4 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 1 gear, vehicle is realized the right steering of described the 3rd regulation relative steering.
According to steering planetary of the present invention, when stop port drg engages, described left steering speed-changing mechanism is hung neutral, and described right steering speed-changing mechanism is hung described right 4 gears, and vehicle is realized the left steering that numerical value is 0.5 the 4th regulation relative steering; And engage when right parking brake, described right steering speed-changing mechanism is hung neutral, and described left steering speed-changing mechanism is hung described left 4 gears, and vehicle is realized the right steering that numerical value is 0.5 the 4th regulation relative steering.
The invention provides a kind of hydromechanical transmission, it comprises: described steering planetary; Straight speed-changing mechanism, it comprises: driving front, the turbine transformer with lockup clutch, the planet speed change mechanism that comprises multiple straight variable speed planetary rows and multiple shifting elements, and hydrodynamic retarder, the input end of described driving front is as the input end of described straight speed-changing mechanism, the mouth of described driving front is connected with the pump impeller of described turbine transformer, the turbine of described turbine transformer is connected with the input end of described planet speed change mechanism, and the mouth of described planet speed change mechanism connects the mouth as described straight speed-changing mechanism after described hydrodynamic retarder; And the mouth of driving engine is connected with the input end of described straight speed-changing mechanism, the mouth of described straight speed-changing mechanism is connected with described main shaft.
The invention provides a kind of electric actuator, it comprises: described steering planetary; Drive motor; Straight speed-changing mechanism, it comprises: a compound planet row of four elements and three shifting elements, wherein, the compound planet row of described four element comprises large sun wheel, small sun gear, pinion carrier and gear ring, described three shifting elements are respectively the sun wheel drg for braking described large sun wheel, for braking the pinion carrier drg of described pinion carrier, for connecting the planet carrier clutch of described pinion carrier and described gear ring, described small sun gear is as the input end of described straight speed-changing mechanism, and described gear ring is as the mouth of described straight speed-changing mechanism; And the mouth of described drive motor is connected with the input end of described straight speed-changing mechanism, the mouth of described straight speed-changing mechanism is connected with described main shaft.
The invention provides a kind of hybrid power electric actuator, it comprises: described steering planetary; Master clutch; Electrical motor; Straight speed-changing mechanism, it comprises: driving front, the turbine transformer with lockup clutch, the planet speed change mechanism that comprises multiple straight variable speed planetary rows and multiple shifting elements, and hydrodynamic retarder, the input end of described driving front is as the input end of described straight speed-changing mechanism, the mouth of described driving front is connected with the pump impeller of described turbine transformer, the turbine of described turbine transformer is connected with the input end of described planet speed change mechanism, and the mouth of described planet speed change mechanism connects the mouth as described straight speed-changing mechanism after described hydrodynamic retarder; And the mouth of driving engine is connected with the input end of described electrical motor by described master clutch, the mouth of described electrical motor is connected with the input end of described straight speed-changing mechanism, and the mouth of described straight speed-changing mechanism is connected with described main shaft.
The invention provides a kind of hybrid power electric actuator, it comprises: described steering planetary, master clutch, the first electrical motor, the second electrical motor, straight speed-changing mechanism, comprises driving front, power division row's group, front reverse planetary row group, front low gear drg, the drg of falling low gear and front high gear power-transfer clutch, and wherein, the input end of described driving front is as the input end of described straight speed-changing mechanism, power division row's group, comprise the first distribution row, second distributes row and the 3rd to distribute row, be three element planet row, described second distributes row's pinion carrier to be connected with the mouth of described driving front as the input end of described power division row's group, described first distributes row's sun wheel, described second distributes row's sun wheel and the described the 3rd to distribute row's gear ring to be connected, described first distributes row's gear ring and described second to distribute row's pinion carrier to be connected, the rotor of described the first electrical motor and described second distributes row's gear ring to be connected, the rotor of described the second electrical motor and the described the 3rd distributes row's gear ring to be connected, the described the 3rd distributes row's sun wheel to fix, the described the 3rd distributes row's pinion carrier as the mouth of described power division row's group, described second distributes row's pinion carrier as the second mouth of described straight speed-changing mechanism, front reverse planetary row group, comprise forward planet row and reverse planet row, be three element planet row, input end as described front reverse planetary row group after the sun wheel of described reverse planet row is connected with the sun wheel of described forward planet row is connected with the mouth that described power division row organizes, after the gear ring of described reverse planet row is connected with the pinion carrier of described forward planet row as the first mouth of described straight speed-changing mechanism, the pinion carrier of the described drg of falling low gear for braking described reverse planet row, described front low gear drg is for braking the gear ring of described forward planet row, described front high gear power-transfer clutch is for connecting the second mouth and the described main shaft of described straight speed-changing mechanism, and the mouth of driving engine is connected with the input end of described straight speed-changing mechanism by described master clutch, the mouth of described straight speed-changing mechanism is connected with described main shaft.
The invention provides a kind of hybrid power electric actuator, it comprises: described steering planetary; Master clutch; The first electrical motor; The second electrical motor; Power flow concentration row, it is three element planet row; Lockup clutch, it is for connecting described power flow concentration row's pinion carrier and gear ring; Straight speed-changing mechanism, it comprises: driving front, the planet speed change mechanism that comprises multiple straight variable speed planetary rows and multiple shifting elements, and hydrodynamic retarder, after the input end of described driving front is connected with described power flow concentration row's pinion carrier as the input end of described straight speed-changing mechanism, the mouth of described driving front is connected with the input end of described planet speed change mechanism, and the mouth of described planet speed change mechanism connects the mouth as described straight speed-changing mechanism after described hydrodynamic retarder; And the mouth of driving engine is connected with described power flow concentration row's gear ring by described master clutch, the mouth of described the first electrical motor is connected with described power flow concentration row's sun wheel, the mouth of described the second electrical motor is connected with the mouth of described driving front, and the mouth of described straight speed-changing mechanism is connected with described main shaft.
Steering planetary of the present invention, comprise respectively by two planet rows, two drgs and two left steering speed-changing mechanism and right steering speed-changing mechanisms that power-transfer clutch forms, and the input end of left steering speed-changing mechanism is connected with the input end of right steering speed-changing mechanism by main shaft.Driving device based on this steering planetary of the present invention, all can realize large, medium and small three regulation Turning radiuss for each gear of straight speed-changing mechanism, there is no ad hoc steer motor or Hydraulic Pump-motor unit for turning to, structure is simpler, cost is lower, be beneficial to produce in enormous quantities and equipment, and can with engine installation integral hoisting, maintainability is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of the related steering planetary of the specific embodiment of the invention;
Fig. 2 is the structural representation of the related hydromechanical transmission based on steering planetary of the specific embodiment of the invention;
Fig. 3 is the structural representation of the related electric actuator based on steering planetary of the specific embodiment of the invention;
Fig. 4 is the structural representation of the related hybrid power electric actuator based on steering planetary of the specific embodiment of the invention;
Fig. 5 is the structural representation of related another hybrid power electric actuator based on steering planetary of the specific embodiment of the invention;
Fig. 6 is the structural representation of related another hybrid power electric actuator based on steering planetary of the specific embodiment of the invention; And
Fig. 7 is the structural representation that the diaxon two of existing both sides differential double fluid driving device is arranged driving device.
In figure: 10 straight speed-changing mechanisms; 20 main shafts; 30,30L, 30R turns to speed-changing mechanism, left steering speed-changing mechanism and right steering speed-changing mechanism; 1,1S, 1R, 1C is respectively the first planet row, the first sun wheel, the first gear ring and the first pinion carrier; 2,2S1,2S2,2R, 2C is respectively the second planet row, second largest sun wheel, the second small sun gear, the second gear ring and the second pinion carrier; 3,3S, 3R, 3C is respectively third planet row, the 3rd sun wheel, the 3rd gear ring and third planet frame; 4,4S1,4S2,4R, 4C is respectively fourth planet row, the fourth-largest sun wheel, the 4th small sun gear, the 4th gear ring and fourth planet frame; C1, C2, B1, B2, B3, B4, B5, B6 is respectively first clutch, second clutch, the first drg, second brake, the 3rd drg, the 4th drg, the 5th drg and the 6th drg; 40 0 axles; 50L, 50R is respectively left and right bus duct; 60L, 60R is respectively left and right parking brake; 70L, 70R is respectively left and right driving wheel; 80,81,82,83,84 is respectively driving engine, drive motor, electrical motor, the first electrical motor and the second electrical motor; 90,91 is respectively master clutch and lockup clutch; 10A, 10B, 10C, 10D, 10E, 10F is respectively that the first distribution row, second distributes row, the 3rd to distribute row, forward planet row, reverse planet row and power flow concentration row; FB, RB, HC is respectively front low gear drg, the drg of falling low gear and front high gear power-transfer clutch.
The specific embodiment
In order more clearly to understand technology contents of the present invention, describe in detail especially exemplified by following examples.Should be understood that embodiment is only for the present invention is described, rather than limitation of the present invention.
Fig. 1 is the structural representation of the related steering planetary of the specific embodiment of the invention.With reference to Fig. 1, comprise for the steering planetary of high maneuverability continuously tracked vehicle: main shaft 20; Stop port drg 60L and right parking brake 60R; Left steering speed-changing mechanism 30L comprises: the first planet row 1, and it is three element planet row, comprises the first sun wheel 1S, the first gear ring 1R and the first pinion carrier 1C; The second planet row 2, it is the compound planet row of four elements, comprises second largest sun wheel 2S1, the second small sun gear 2S2, the second gear ring 2R and the second pinion carrier 2C; The first drg B1 is used for braking the first sun wheel 1S, and second brake B2 is used for braking the second gear ring 2R, and the 3rd drg B3 is used for braking the second small sun gear 2S2, and first clutch C1 is used for connecting the first gear ring 1R and the first sun wheel 1S; The first gear ring 1R is as the input end of left steering speed-changing mechanism 30L, the first sun wheel 1S is connected with the second pinion carrier 2C, the first pinion carrier 1C is connected with second largest sun wheel 2S1, after second largest sun wheel 2S1 is connected with stop port drg 60L as the mouth of left steering speed-changing mechanism 30L as the left mouth of steering planetary; Right steering speed-changing mechanism 30R comprises: third planet row 3, and it is three element planet row, comprises the 3rd sun wheel 3S, the 3rd gear ring 3R and third planet frame 3C; Fourth planet row 4, it is the compound planet row of four elements, comprises the fourth-largest sun wheel 4S1, the 4th small sun gear 4S2, the 4th gear ring 4R and fourth planet frame 4C; The 4th drg B4 is used for braking the 3rd sun wheel 3S, and the 5th drg B5 is used for braking the 4th gear ring 4R, and the 6th drg B6 is used for braking the 4th small sun gear 4S2, and second clutch C2 is used for connecting the 3rd gear ring 3R and the 3rd sun wheel 3S; The 3rd gear ring 3R is as the input end of right steering speed-changing mechanism 30R, the 3rd sun wheel 3S is connected with fourth planet frame 4C, third planet frame 3C is connected with the fourth-largest sun wheel 4S1, after the fourth-largest sun wheel 4S1 is connected with right parking brake 60R as the mouth of right steering speed-changing mechanism 30R as the right mouth of steering planetary; And the input end of left steering speed-changing mechanism 30L is connected with the input end of right steering speed-changing mechanism 30R by main shaft 20.
Table 1 is the left and right manipulation friction element state table that turns to speed-changing mechanism.Turn to speed-changing mechanism 30L and 30R respectively to there are multiple gears, i.e. left 1 gear, left 2 gears, left 3 gears and left 4 gears, and right 1 gear, right 2 gears, right 3 gears and right 4 gears.When second brake B2 engages, first clutch C1, the first drg B1 separate with the 3rd drg B3, and left steering speed-changing mechanism 30L realizes left 1 gear; When the first drg B1 engages, first clutch C1, second brake B2 separate with the 3rd drg B3, and left steering speed-changing mechanism 30L realizes left 2 gears; When the 3rd drg B3 engages, first clutch C1, the first drg B1 separate with second brake B2, and left steering speed-changing mechanism 30L realizes left 3 gears; When first clutch C1 engages, the first drg B1, second brake B2 separate with the 3rd drg B3, and left steering speed-changing mechanism 30L realizes left 4 gears; When first clutch C1, the first drg B1, second brake B2 and the 3rd drg B3 separate, left steering speed-changing mechanism 30L realizes neutral; When the 5th drg B5 engages, second clutch C2, the 4th drg B4 separate with the 6th drg B6, and right steering speed-changing mechanism 30R realizes right 1 gear; When the 4th drg B4 engages, second clutch C2, the 5th drg B5 separate with the 6th drg B6, and right steering speed-changing mechanism 30R realizes right 2 gears; When the 6th drg B6 engages, second clutch C2, the 4th drg B4 separate with the 5th drg B5, and right steering speed-changing mechanism is realized right 3 gears; When second clutch C2 engages, the 4th drg B4, the 5th drg B5 separate with the 6th drg B6, and right steering speed-changing mechanism 30R realizes right 4 gears; And separate with the 6th drg B6 as second clutch C2, the 4th drg B4, the 5th drg B5, right steering speed-changing mechanism 30R realizes neutral.
In table 1, also list respectively according to the left and right gear speed ratio that turns to the planet row kinematical equation of speed-changing mechanism 30L, 30R to try to achieve, wherein k
1, k
21with k
22, k
3, k
41with k
42respectively first, second, third and fourth planet row's structural characteristic parameter, when guaranteeing left and right turn output symmetrical, select k
1=k
3, k
21=k
41with k
22=k
42.
The left and right manipulation friction element state table (× separation, zero engages) that turns to speed-changing mechanism of table 1
Reference table 1 is known, is 1 if a side turns to the speed ratio of speed-changing mechanism, and the speed ratio i of opposite side is the ratio of both sides speed ratio, has determined the size of regulation relative steering.Therefore, can determine each gear speed ratio according to formula (1) by the regulation relative steering of selecting, wherein, the speed ratio of left 1 gear or right 1 gear is according to the 3rd regulation relative steering ρ
3arrange, the speed ratio of left 2 gears or right 2 gears is according to the second regulation relative steering ρ
2arrange, the speed ratio of left 3 gears or right 3 gears is according to the first regulation relative steering ρ
1arrange.First, second, and third regulation relative steering reduces successively, i.e. ρ
1> ρ
2> ρ
3.
When left steering speed-changing mechanism 30L hangs left 4 gears, when right steering speed-changing mechanism 30R hangs right 4 gear, vehicle is realized straight; When left steering speed-changing mechanism 30L hangs left 3 gears, when right steering speed-changing mechanism 30R hangs right 4 gear, vehicle is realized the first regulation relative steering ρ
1left steering; When left steering speed-changing mechanism 30L hangs left 2 gears, when right steering speed-changing mechanism 30R hangs right 4 gear, vehicle is realized the second regulation relative steering ρ
2left steering; When left steering speed-changing mechanism 30L hangs left 1 gear, when right steering speed-changing mechanism 30R hangs right 4 gear, vehicle is realized the 3rd regulation relative steering ρ
3left steering; When left steering speed-changing mechanism 30L hangs left 4 gears, when right steering speed-changing mechanism 30R hangs right 3 gear, vehicle is realized the first regulation relative steering ρ
1right steering; When left steering speed-changing mechanism 30L hangs left 4 gears, when right steering speed-changing mechanism 30R hangs right 2 gear, vehicle is realized the second regulation relative steering ρ
2right steering; When left steering speed-changing mechanism 30L hangs left 4 gears, when right steering speed-changing mechanism 30R hangs right 1 gear, vehicle is realized the 3rd regulation relative steering ρ
3right steering.
Table 2 shows right steering speed-changing mechanism 30R and hangs right 4 gears, large, medium and small regulation relative steering ρ when left steering speed-changing mechanism 30L hangs left 1 gear, left 2 gears and left 3 gear
1, ρ
2and ρ
3.According to the distribution limit of ρ, select suitable k
1, k
21with k
22numerical value.With reference to the number range of the conventional regulation of conventional high maneuverability continuously tracked vehicle relative steering, select ρ
1=8～9, ρ
2=5～6 and ρ
3=3～4, i
1=1.1176～1.1333, i
2=1.1818～1.2222, i
3=1.2857～1.4.After tentative calculation, select k
1=3.0, k
21=1.5 and k
22=2.5.The gear speed ratio calculating accordingly and the concrete numerical value of regulation relative steering are in table 3.
Table 2 gear speed ratio and regulation relative steering
The concrete numerical value of table 3 gear speed ratio and regulation relative steering
| Left steering speed change gear | Gear speed ratio i n | Regulation relative steering ρ n |
| Left 1 gear | 1.333 | 3.5 |
| Left 2 gears | 1.200 | 5.5 |
| Left 3 gears | 1.125 | 8.5 |
When stop port drg 60L engages, left steering speed-changing mechanism 30L hangs neutral, and right steering speed-changing mechanism 30R hangs right 4 and keeps off, and vehicle is realized the left steering that numerical value is 0.5 the 4th regulation relative steering; And engage as right parking brake 60R, right steering speed-changing mechanism 30R hangs neutral, and left steering speed-changing mechanism 30L hangs left 4 and keeps off, and vehicle is realized the right steering that numerical value is 0.5 the 4th regulation relative steering.
The kinematics and dynamic analysis that this driving device is carried out shows, to be equal to or greater than ρ
3relative steering while turning to, can utilize and turn to regenerating power to greatly reduce the required driving power of small radius steering.
Should be noted that, although all can realize large, medium and small three regulation Turning radiuss for each gear of straight speed-changing mechanism 10, in other words, all can realize three regulation Turning radiuss for each speed of a motor vehicle in theory, but when the speed of a motor vehicle is higher, little regulation Turning radius will cause defective steering stabilizer or rollover, and therefore along with the increase of the speed of a motor vehicle, actual available regulation Turning radius quantity reduces gradually.
In addition, although left steering speed-changing mechanism 30L and right steering speed-changing mechanism 30R respectively have four operating elements, while turning at every turn, only need to separate an operating element and engage another operating element, therefore handling control very simple, without any inconvenience.Steering handwheel or joystick provide steering angle signal, and the electronic controller of driving device accordingly signal and other sensor signal, together to turning to shift process accurately to control, is controlled corresponding operating element and degree of engagement thereof, realizes the Turning radius of expecting.
Fig. 2 is the structural representation of the related hydromechanical transmission based on steering planetary of the specific embodiment of the invention.With reference to figure 2, straight speed-changing mechanism 10 comprises driving front, the turbine transformer with lockup clutch, the planet speed change mechanism that comprises three straight variable speed planetary rows and five shifting elements, and hydrodynamic retarder, the driving front of input end and the pump impeller of turbine transformer as straight speed-changing mechanism 10 are connected, the turbine of turbine transformer is connected with the input end of planet speed change mechanism, and the mouth of planet speed change mechanism connects the mouth as straight speed-changing mechanism 10 after hydrodynamic retarder.The mouth of driving engine 80 is connected with the input end of straight speed-changing mechanism 10, the mouth of straight speed-changing mechanism 10 is connected with main shaft 20, and the left and right mouth of main shaft 20 is connected with the input end of left steering speed-changing mechanism 30L, right steering speed-changing mechanism 30R respectively.Straight speed-changing mechanism 10 has at least 4 forward gears and 2 and reverses gear.Straight speed-changing mechanism for the hydromechanical transmission of high maneuverability continuously tracked vehicle in any other prior art all can be used in the present invention, and straight speed-changing mechanism 10 in the present invention all has automatic speed changing function.In addition, with LSG3000 there is the turning to compared with speed-changing mechanism of seven shifting elements, many one of the shifting element that turns to speed-changing mechanism of the present invention, complexity slightly increases.
Fig. 3 is the structural representation of the related electric actuator based on steering planetary of the specific embodiment of the invention.With reference to figure 3, straight speed-changing mechanism 10 is made up of a compound planet row of four elements and three shifting elements, the compound planet row of four elements comprises large sun wheel, small sun gear, pinion carrier and gear ring, three shifting elements are respectively sun wheel drg for braking large sun wheel, for braking the pinion carrier drg of pinion carrier and planet carrier clutch for being connected pinion carrier and gear ring, small sun gear is as the input end of straight speed-changing mechanism 10, and gear ring is as the mouth of straight speed-changing mechanism 10.The mouth of drive motor 81 is connected with the input end of straight speed-changing mechanism 10, the mouth of straight speed-changing mechanism 10 is connected with main shaft 20, and the left and right mouth of main shaft 20 is connected with the input end of left steering speed-changing mechanism 30L, right steering speed-changing mechanism 30R respectively.Because drive motor 81 can reverse, straight speed-changing mechanism 10 needn't arrange independent reversing gear and simplify its structure.Drive motor 81 has the expansion speed ratio that approaches 4, the gear of straight speed-changing mechanism 10 needn't be more than 3 gears, adopt 2 gears or 3 gear speed-changing mechanisms, graphic 3 gear speed-changing mechanisms are slightly complicated, but can improve the efficiency of electric actuator, shorten the gearshift time, improve dynamic property, and the expansion speed of drive motor 81 can meet the demands than only reaching 2.5, adopt two gear speed-changing mechanisms to need expansion speed ratio to reach 4.
Fig. 4 is the structural representation of the related hybrid power electric actuator based on steering planetary of the specific embodiment of the invention.With reference to figure 4, the mouth of driving engine 80 is connected with the input end of electrical motor 82 by master clutch 90, the mouth of electrical motor 82 is connected with the input end of straight speed-changing mechanism 10, the mouth of straight speed-changing mechanism 10 is connected with main shaft 20, and the left and right mouth of main shaft 20 is connected with the input end of left steering speed-changing mechanism 30L, right steering speed-changing mechanism 30R respectively.Straight speed-changing mechanism 10 comprises driving front, the turbine transformer with lockup clutch, the planet speed change mechanism that comprises three straight variable speed planetary rows and five shifting elements, and hydrodynamic retarder, the driving front of input end and the pump impeller of turbine transformer as straight speed-changing mechanism 10 are connected, the turbine of turbine transformer is connected with the input end of planet speed change mechanism, and the mouth of planet speed change mechanism connects the mouth as straight speed-changing mechanism 10 after hydrodynamic retarder.When driving engine 80 cuts out, when master clutch 90 separates, electrical motor 82 drives separately vehicle, can realize the function of closing with the enemy of mourning in silence that the hydromechanical transmission shown in Fig. 2 does not have.When master clutch 90 engages, electrical motor 82 can start the engine 80.When Vehicle Driving Cycle or when parking straight speed-changing mechanism 10 hangs neutral, electrical motor 82 can generate electricity and charge to electrical storage device (not shown).
Fig. 5 is the structural representation of related another hybrid power electric actuator based on steering planetary of the specific embodiment of the invention.With reference to figure 5, hybrid power electric actuator comprises: steering planetary, master clutch 90, the first electrical motor 83, the second electrical motor 84, straight speed-changing mechanism 10, comprises driving front, power division row's group, front reverse planetary row group, front low gear drg FB, the drg of falling low gear RB and front high gear power-transfer clutch HC, and wherein, the input end of driving front is as the input end of straight speed-changing mechanism 10, power division row's group, comprise the first distribution row 10A, second distributes row 10B and the 3rd to distribute row 10C, be three element planet row, second distributes the pinion carrier of row 10B to be connected with the mouth of driving front as the input end of power division row group, first distributes the sun wheel of row 10A, second distributes the sun wheel and the 3rd of row 10B to distribute the gear ring of row 10C to be connected, first distributes the gear ring and second of row 10A to distribute the pinion carrier of row 10B to be connected, the rotor of the first electrical motor 83 and second distributes the gear ring of row 10B to be connected, the rotor of the second electrical motor 84 and the 3rd distributes the gear ring of row 10C to be connected, the 3rd distributes the sun wheel of row 10C to fix, the 3rd distributes the pinion carrier of row 10C as the mouth of power division row group, second distributes the pinion carrier of row 10B as the second mouth of straight speed-changing mechanism 10, front reverse planetary row group, comprise forward planet row 10E and reverse planet row 10D, be three element planet row, oppositely the sun wheel of planet row 10D is connected with the mouth that power division row organizes as the input end of front reverse planetary row group after being connected with the sun wheel of forward planet row 10E, after the gear ring of reverse planet row 10D is connected with the pinion carrier of forward planet row 10E as the first mouth of straight speed-changing mechanism 10, the pinion carrier of the drg of falling low gear RB for braking reverse planet row 10D, front low gear drg FB is for braking the gear ring of forward planet row 10E, front high gear power-transfer clutch HC is for connecting the second mouth and the main shaft 10 of straight speed-changing mechanism 10, and the mouth of driving engine 80 is connected with the input end of straight speed-changing mechanism 10 by master clutch 90, the mouth of straight speed-changing mechanism 10 is connected with main shaft 20.
Fig. 6 is the structural representation of related another hybrid power electric actuator based on steering planetary of the specific embodiment of the invention.With reference to figure 6, hybrid power electric actuator comprises: steering planetary; Master clutch 90; The first electrical motor 83; The second electrical motor 84; Power flow concentration row 10F, it is three element planet row; Lockup clutch 91, it is for connecting pinion carrier and the gear ring of power flow concentration row 10F; Straight speed-changing mechanism 10, it comprises: driving front, the planet speed change mechanism that comprises multiple straight variable speed planetary rows and multiple shifting elements, and hydrodynamic retarder, after the pinion carrier of the input end of driving front and power flow concentration row 10F is connected as the input end of straight speed-changing mechanism 10, the mouth of driving front is connected with the input end of planet speed change mechanism, and the mouth of planet speed change mechanism connects the mouth as straight speed-changing mechanism 10 after hydrodynamic retarder; And the mouth of driving engine 80 is connected with the gear ring of power flow concentration row 10F by master clutch 90, the mouth of the first electrical motor 83 is connected with the sun wheel of power flow concentration row 10F, second mouth of electrical motor 84 and the mouth of driving front are connected, and the mouth of straight speed-changing mechanism 10 is connected with main shaft 20.
Fig. 7 is that the diaxon two of existing both sides differential double fluid driving device is arranged structural representation.With reference to figure 7, the power of driving engine is divided into straight and turns to two-way power stream, one route straight speed-changing mechanism 10 is delivered to main shaft 20, another route turns to speed-changing mechanism 30 to be delivered to zero axle 40, two-way power stream is to the output of left and right mouth after left and right bus duct 50L, 50R conflux, and left and right parking brake 60L, 60R are also configured in mouth.Turn to speed-changing mechanism 30 to can be pure mechanical step type speed-changing mechanism, also can be the hydraulic machinery speed-changing mechanism that comprises Ye Ya Beng – motor unit.
Hydromechanical transmission, electric actuator and the hybrid power electric actuator of four specific embodiments of the present invention, compare with conventional driving device, electric actuator and the hybrid power electric actuator of other high maneuverability continuously tracked vehicle, steer motor or the Hydraulic Pump-motor unit for the turning to that do not arrange separately, compact conformation and the simple advantage of control are very obvious, can realize high power density power transmission cabin.
The steering planetary of the specific embodiment of the invention, comprise respectively by two planet rows, two drgs and two left steering speed-changing mechanism and right steering speed-changing mechanisms that power-transfer clutch forms, and the input end of left steering speed-changing mechanism is connected with the input end of right steering speed-changing mechanism by main shaft.Driving device based on this steering planetary of the present invention, all can realize large, medium and small three regulation Turning radiuss for each gear of straight speed-changing mechanism, there is no ad hoc steer motor or Hydraulic Pump-motor unit for turning to, structure is simpler, cost is lower, be beneficial to produce in enormous quantities and equipment, and can with engine installation integral hoisting, maintainability is high.
The present invention is not limited to above-described embodiment, changes and revises but cover the institute carrying out in the situation that does not depart from the spirit and scope of the present invention.These changes and revise and should not be considered to depart from the spirit and scope of the present invention, and all modifications such as it will be apparent to those skilled in the art that all should be included within the scope of the appended claims.
Claims (10)
1. a steering planetary, it,, for the driving device of high maneuverability continuously tracked vehicle, comprising:
Main shaft; Stop port drg and right parking brake; It is characterized in that:
Described steering planetary also comprises:
Left steering speed-changing mechanism, comprising: the first planet row, and it is three element planet row, comprises the first sun wheel, the first gear ring and the first pinion carrier; The second planet row, it is the compound planet row of four elements, comprises second largest sun wheel, the second small sun gear, the second gear ring and the second pinion carrier; The first drg, it is for braking described the first sun wheel; Second brake, it is for braking described the second gear ring; The 3rd drg, it is for braking described the second small sun gear; First clutch, it is for connecting described the first gear ring and described the first sun wheel; Described the first gear ring is as the input end of described left steering speed-changing mechanism, described the first sun wheel is connected with described the second pinion carrier, described the first pinion carrier is connected with described second largest sun wheel, after described second largest sun wheel is connected with stop port drg as the mouth of described left steering speed-changing mechanism as the left mouth of described steering planetary;
Right steering speed-changing mechanism, comprising: third planet row, and it is three element planet row, comprises the 3rd sun wheel, the 3rd gear ring and third planet frame; Fourth planet row, it is the compound planet row of four elements, comprises the fourth-largest sun wheel, the 4th small sun gear, the 4th gear ring and fourth planet frame; The 4th drg, it is for braking described the 3rd sun wheel; The 5th drg, it is for braking described the 4th gear ring; The 6th drg, it is for braking described the 4th small sun gear; Second clutch, it is for connecting described the 3rd gear ring and described the 3rd sun wheel; Described the 3rd gear ring is as the input end of described right steering speed-changing mechanism, described the 3rd sun wheel is connected with described fourth planet frame, described third planet frame is connected with described the fourth-largest sun wheel, after described the fourth-largest sun wheel is connected with right parking brake as the mouth of described right steering speed-changing mechanism as the right mouth of described steering planetary; And
The input end of described left steering speed-changing mechanism is connected with the input end of described right steering speed-changing mechanism by described main shaft.
2. steering planetary according to claim 1, is characterized in that,
When described second brake engages, described first clutch, described the first drg and described the 3rd drg separate, and described left steering speed-changing mechanism is realized left 1 gear;
When described the first drg engages, described first clutch, described second brake and described the 3rd drg separate, and described left steering speed-changing mechanism is realized left 2 gears;
When described the 3rd drg engages, described first clutch, described the first drg separate with described second brake, and described left steering speed-changing mechanism is realized left 3 gears;
When described first clutch engages, described the first drg, described second brake and described the 3rd drg separate, and described left steering speed-changing mechanism is realized left 4 gears;
When described first clutch, described the first drg, described second brake and described the 3rd drg separate, described left steering speed-changing mechanism is realized neutral;
When described the 5th drg engages, described second clutch, described the 4th drg and described the 6th drg separate, and described right steering speed-changing mechanism is realized right 1 gear;
When described the 4th drg engages, described second clutch, described the 5th drg and described the 6th drg separate, and described right steering speed-changing mechanism is realized right 2 gears;
When described the 6th drg engages, described second clutch, described the 4th drg and described the 5th drg separate, and described right steering speed-changing mechanism is realized right 3 gears;
When described second clutch engages, described the 4th drg, described the 5th drg and described the 6th drg separate, and described right steering speed-changing mechanism is realized right 4 gears; And
When described second clutch, described the 4th drg, described the 5th drg and described the 6th drg separate, described right steering speed-changing mechanism is realized neutral.
3. steering planetary according to claim 2, is characterized in that,
The speed ratio of described left 1 gear or described right 1 gear is according to the 3rd regulation relative steering setting;
The speed ratio of described left 2 gears or described right 2 gears arranges according to the second regulation relative steering;
The speed ratio of described left 3 gears or described right 3 gears arranges according to the first regulation relative steering;
And the pass of gear speed ratio i and regulation relative steering ρ is:
4. steering planetary according to claim 3, is characterized in that,
Hang described left 4 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 4 gear, vehicle is realized straight;
Hang described left 3 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 4 gear, vehicle is realized the left steering of described the first regulation relative steering;
Hang described left 2 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 4 gear, vehicle is realized the left steering of described the second regulation relative steering;
Hang described left 1 gear when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 4 gear, vehicle is realized the left steering of described the 3rd regulation relative steering;
Hang described left 4 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 3 gear, vehicle is realized the right steering of described the first regulation relative steering;
Hang described left 4 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 2 gear, vehicle is realized the right steering of described the second regulation relative steering; And
Hang described left 4 gears when described left steering speed-changing mechanism, when described right steering speed-changing mechanism is hung described right 1 gear, vehicle is realized the right steering of described the 3rd regulation relative steering.
5. steering planetary according to claim 4, is characterized in that,
When described stop port drg engages, described left steering speed-changing mechanism is hung neutral, and described right steering speed-changing mechanism is hung described right 4 gears, and vehicle is realized the left steering that numerical value is 0.5 the 4th regulation relative steering; And
When described right parking brake engages, described right steering speed-changing mechanism is hung neutral, and described left steering speed-changing mechanism is hung described left 4 gears, and vehicle is realized the right steering that numerical value is 0.5 the 4th regulation relative steering.
6. the hydromechanical transmission based on steering planetary claimed in claim 1, is characterized in that, also comprises:
Straight speed-changing mechanism, it comprises: driving front, the turbine transformer with lockup clutch, the planet speed change mechanism that comprises multiple straight variable speed planetary rows and multiple shifting elements, and hydrodynamic retarder, the input end of described driving front is as the input end of described straight speed-changing mechanism, the mouth of described driving front is connected with the pump impeller of described turbine transformer, the turbine of described turbine transformer is connected with the input end of described planet speed change mechanism, and the mouth of described planet speed change mechanism connects the mouth as described straight speed-changing mechanism after described hydrodynamic retarder; And
The mouth of driving engine is connected with the input end of described straight speed-changing mechanism, and the mouth of described straight speed-changing mechanism is connected with described main shaft.
7. the electric actuator based on steering planetary claimed in claim 1, is characterized in that, also comprises:
Drive motor;
Straight speed-changing mechanism, it comprises: a compound planet row of four elements and three shifting elements, wherein, the compound planet row of described four element comprises large sun wheel, small sun gear, pinion carrier and gear ring, described three shifting elements are respectively the sun wheel drg for braking described large sun wheel, for braking the pinion carrier drg of described pinion carrier, for connecting the planet carrier clutch of described pinion carrier and described gear ring, described small sun gear is as the input end of described straight speed-changing mechanism, and described gear ring is as the mouth of described straight speed-changing mechanism; And
The mouth of described drive motor is connected with the input end of described straight speed-changing mechanism, and the mouth of described straight speed-changing mechanism is connected with described main shaft.
8. the hybrid power electric actuator based on steering planetary claimed in claim 1, is characterized in that, also comprises:
Master clutch; Electrical motor;
Straight speed-changing mechanism, it comprises: driving front, the turbine transformer with lockup clutch, the planet speed change mechanism that comprises multiple straight variable speed planetary rows and multiple shifting elements, and hydrodynamic retarder, the input end of described driving front is as the input end of described straight speed-changing mechanism, the mouth of described driving front is connected with the pump impeller of described turbine transformer, the turbine of described turbine transformer is connected with the input end of described planet speed change mechanism, and the mouth of described planet speed change mechanism connects the mouth as described straight speed-changing mechanism after described hydrodynamic retarder; And
The mouth of driving engine is connected with the input end of described electrical motor by described master clutch, and the mouth of described electrical motor is connected with the input end of described straight speed-changing mechanism, and the mouth of described straight speed-changing mechanism is connected with described main shaft.
9. the hybrid power electric actuator based on steering planetary claimed in claim 1, is characterized in that, also comprises:
Master clutch; The first electrical motor; The second electrical motor;
Straight speed-changing mechanism, comprises driving front, power division row's group, front reverse planetary row group, front low gear drg, the drg of falling low gear and front high gear power-transfer clutch, wherein,
The input end of described driving front is as the input end of described straight speed-changing mechanism;
Power division row's group, comprise the first distribution row, second distributes row and the 3rd to distribute row, described first distributes row, described second distributes row and the described the 3rd to distribute row to be three element planet row, described second distributes row's pinion carrier to be connected with the mouth of described driving front as the input end of described power division row's group, described first distributes row's sun wheel, described second distributes row's sun wheel and the described the 3rd to distribute row's gear ring to be connected, described first distributes row's gear ring and described second to distribute row's pinion carrier to be connected, the rotor of described the first electrical motor and described second distributes row's gear ring to be connected, the rotor of described the second electrical motor and the described the 3rd distributes row's gear ring to be connected, the described the 3rd distributes row's sun wheel to fix, the described the 3rd distributes row's pinion carrier as the mouth of described power division row's group, described second distributes row's pinion carrier as the second mouth of described straight speed-changing mechanism,
Front reverse planetary row group, comprise forward planet row and reverse planet row, described forward planet row and described reverse planet row are three element planet row, input end as described front reverse planetary row group after the sun wheel of described reverse planet row is connected with the sun wheel of described forward planet row is connected with the mouth that described power division row organizes, after the gear ring of described reverse planet row is connected with the pinion carrier of described forward planet row as the first mouth of described straight speed-changing mechanism;
The pinion carrier of the described drg of falling low gear for braking described reverse planet row;
Described front low gear drg is for braking the gear ring of described forward planet row;
Described front high gear power-transfer clutch is for connecting the second mouth and the described main shaft of described straight speed-changing mechanism; And
The mouth of driving engine is connected with the input end of described straight speed-changing mechanism by described master clutch, and the mouth of described straight speed-changing mechanism is connected with described main shaft.
10. the hybrid power electric actuator based on steering planetary claimed in claim 1, is characterized in that, also comprises:
Master clutch; The first electrical motor; The second electrical motor; Power flow concentration row, it is three element planet row; Lockup clutch, it is for connecting described power flow concentration row's pinion carrier and gear ring;
Straight speed-changing mechanism, it comprises: driving front, the planet speed change mechanism that comprises multiple straight variable speed planetary rows and multiple shifting elements, and hydrodynamic retarder, after the input end of described driving front is connected with described power flow concentration row's pinion carrier as the input end of described straight speed-changing mechanism, the mouth of described driving front is connected with the input end of described planet speed change mechanism, and the mouth of described planet speed change mechanism connects the mouth as described straight speed-changing mechanism after described hydrodynamic retarder; And
The mouth of driving engine is connected with described power flow concentration row's gear ring by described master clutch, the mouth of described the first electrical motor is connected with described power flow concentration row's sun wheel, the mouth of described the second electrical motor is connected with the mouth of described driving front, and the mouth of described straight speed-changing mechanism is connected with described main shaft.
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